///////////////////////////////////////////////////////////////////////////////

// BSD 3-Clause License

//

// Copyright (C) 2020-2024, LAAS-CNRS, University of Edinburgh,

//                          Heriot-Watt University

// Copyright note valid unless otherwise stated in individual files.

// All rights reserved.

///////////////////////////////////////////////////////////////////////////////

#ifndef CROCODDYL_MULTIBODY_RESIDUALS_CONTACT_CONTROL_GRAVITY_HPP_

#define CROCODDYL_MULTIBODY_RESIDUALS_CONTACT_CONTROL_GRAVITY_HPP_

#include "crocoddyl/core/residual-base.hpp"

#include "crocoddyl/core/utils/exception.hpp"

#include "crocoddyl/multibody/data/contacts.hpp"

#include "crocoddyl/multibody/states/multibody.hpp"

namespace crocoddyl {

/**

 * @brief Control gravity residual under contact

 *

 * This residual function is defined as

 * \f$\mathbf{r}=\mathbf{u}-(\mathbf{g}(\mathbf{q}) - \sum

 * \mathbf{J}_c(\mathbf{q})^{\top} \mathbf{f}_c)\f$, where

 * \f$\mathbf{u}\in~\mathbb{R}^{nu}\f$ is the current control input,

 * \f$\mathbf{J}_c(\mathbf{q})\f$ is the contact Jacobians, \f$\mathbf{f}_c\f$

 * contains the contact forces, \f$\mathbf{g}(\mathbf{q})\f$ is the gravity

 * torque corresponding to the current configuration,

 * \f$\mathbf{q}\in~\mathbb{R}^{nq}\f$ is the current position joints input.

 * Note that the dimension of the residual vector is obtained from

 * `state->get_nv()`.

 *

 * As described in `ResidualModelAbstractTpl()`, the residual value and its

 * Jacobians are calculated by `calc()` and `calcDiff()`, respectively.

 *

 * \sa `ResidualModelAbstractTpl`, `calc()`, `calcDiff()`, `createData()`

 */

template <typename _Scalar>

class ResidualModelContactControlGravTpl

    : public ResidualModelAbstractTpl<_Scalar> {

 public:

  typedef _Scalar Scalar;

  typedef MathBaseTpl<Scalar> MathBase;

  typedef ResidualModelAbstractTpl<Scalar> Base;

  typedef ResidualDataContactControlGravTpl<Scalar> Data;

  typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract;

  typedef StateMultibodyTpl<Scalar> StateMultibody;

  typedef ActuationModelAbstractTpl<Scalar> ActuationModelAbstract;

  typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;

  typedef typename MathBase::VectorXs VectorXs;

  typedef typename MathBase::MatrixXs MatrixXs;

  /**

   * @brief Initialize the contact control gravity contact residual model

   *

   * @param[in] state  State of the multibody system

   * @param[in] nu     Dimension of the control vector

   */

  ResidualModelContactControlGravTpl(boost::shared_ptr<StateMultibody> state,

                                     const std::size_t nu);

  /**

   * @brief Initialize the contact control gravity contact residual model

   *

   * The default `nu` value is obtained from `StateAbstractTpl::get_nv()`.

   *

   * @param[in] state  State of the multibody system

   */

  explicit ResidualModelContactControlGravTpl(

      boost::shared_ptr<StateMultibody> state);

  virtual ~ResidualModelContactControlGravTpl();

  /**

   * @brief Compute the contact control gravity contact residual

   *

   * @param[in] data  Contact control gravity residual data

   * @param[in] x     State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$

   * @param[in] u     Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$

   */

  virtual void calc(const boost::shared_ptr<ResidualDataAbstract>& data,

                    const Eigen::Ref<const VectorXs>& x,

                    const Eigen::Ref<const VectorXs>& u);

  /**

   * @brief Compute the residual vector for nodes that depends only on the state

   *

   * It updates the residual vector based on the state only (i.e., it ignores

   * the contact forces). This function is used in the terminal nodes of an

   * optimal control problem.

   *

   * @param[in] data  Residual data

   * @param[in] x     State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$

   */

  virtual void calc(const boost::shared_ptr<ResidualDataAbstract>& data,

                    const Eigen::Ref<const VectorXs>& x);

  /**

   * @brief Compute the Jacobians of the contact control gravity contact

   * residual

   *

   * @param[in] data  Contact control gravity residual data

   * @param[in] x     State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$

   * @param[in] u     Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$

   */

  virtual void calcDiff(const boost::shared_ptr<ResidualDataAbstract>& data,

                        const Eigen::Ref<const VectorXs>& x,

                        const Eigen::Ref<const VectorXs>& u);

  /**

   * @brief Compute the Jacobian of the residual functions with respect to the

   * state only

   *

   * It updates the Jacobian of the residual function based on the state only

   * (i.e., it ignores the contact forces). This function is used in the

   * terminal nodes of an optimal control problem.

   *

   * @param[in] data  Residual data

   * @param[in] x     State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$

   */

  virtual void calcDiff(const boost::shared_ptr<ResidualDataAbstract>& data,

                        const Eigen::Ref<const VectorXs>& x);

  /**

   * @brief Create the contact-control-gravity residual data

   */

  virtual boost::shared_ptr<ResidualDataAbstract> createData(

      DataCollectorAbstract* const data);

  /**

   * @brief Print relevant information of the contact-control-grav residual

   *

   * @param[out] os  Output stream object

   */

  virtual void print(std::ostream& os) const;

 protected:

  using Base::nu_;

  using Base::state_;

  using Base::v_dependent_;

 private:

  typename StateMultibody::PinocchioModel pin_model_;

};

template <typename _Scalar>

struct ResidualDataContactControlGravTpl

    : public ResidualDataAbstractTpl<_Scalar> {

  typedef _Scalar Scalar;

  typedef MathBaseTpl<Scalar> MathBase;

  typedef ResidualDataAbstractTpl<Scalar> Base;

  typedef StateMultibodyTpl<Scalar> StateMultibody;

  typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;

  typedef pinocchio::DataTpl<Scalar> PinocchioData;

  template <template <typename Scalar> class Model>

                                    DataCollectorAbstract* const data)

    // Check that proper shared data has been passed

          "Invalid argument: the shared data should be derived from "

          "DataCollectorActMultibodyInContactTpl");

    }

    // Avoids data casting at runtime

    // pinocchio = d->pinocchio;

  PinocchioData pinocchio;  //!< Pinocchio data

  boost::shared_ptr<ActuationDataAbstractTpl<Scalar> >

      actuation;  //!< Actuation data

  pinocchio::container::aligned_vector<pinocchio::ForceTpl<Scalar> >

      fext;  //!< External spatial forces

  using Base::r;

  using Base::Ru;

  using Base::Rx;

  using Base::shared;

};

}  // namespace crocoddyl

/* --- Details -------------------------------------------------------------- */

/* --- Details -------------------------------------------------------------- */

/* --- Details -------------------------------------------------------------- */

#include "crocoddyl/multibody/residuals/contact-control-gravity.hxx"

#endif  // CROCODDYL_MULTIBODY_RESIDUALS_CONTACT_CONTROL_GRAVITY_HPP_